Standard specifications SRA210D-01-FD11 1st edition 1401, SMCEN-067-001,001
Table of contents 1. Outline... 1 2. Basic specifications... 2 3. Robot dimensions and working envelope... 3 4. Detail of tool mounting plate... 4 5. Details of upper part of forearm... 5 6. Installation procedure... 6 7. Allowable wrist load... 9 8. Option specifications... 13 9. Application wiring and piping diagram... 14 10. Transport procedure... 15 11. Delivery style (specification which contains a robot)... 17 12. Consuming power (Robot + Controller)... 17 13. Paint color... 17 14. Warranty... 17
Page-1 1. Outline NACHI ROBOT has used mechatronic techniques, cultivated throughout the last few decades, to supply robots suited for industries utilizing welding and the material handling techniques. SRA210D is a robot of simple highly rigid structure which is optimal for material handling applications especially in a severe environment like a cast parts factory etc. Installation Floor mount Max. payload 210 kg SRA210D-01 Characteristics 1. Due to high wrist torque and high moment of inertia, this robot is suitable for handling of heavy payload. 2. Wide motion range makes easier applicability than before. 3. By installing the balance unit inside arm, swivel base becomes slim and interference radius gets substantially shorter than before. 4. Due to making higher maximum speed, cycle time is shortened. Also it is possible to get faster air-cut motion that is changing wrist attitude widely. 5. The restriction of the operation range is lightened due to the slim compact wrist. It make it possible to use the robot for more diverse applications. 6. The required installation area has been reduced by routing water, air and cables through the swivel base for material handling application.
Page-2 2. Basic specifications Item Robot model Construction Specifications SRA210D-01 Articulated Number of axis 6 Drive system AC servo motor Axis 1 ±2.88 rad (±165 ) Axis 2-1.40 ~ +1.05 rad (-80 ~ +60 ) Max. working envelope Axis 3-2.56 ~ +2.62 rad (-146.5 ~ +150 ) Axis 4 ±6.28 rad (±360 ) Axis 5 ±2.09 rad (±120 ) Axis 6 ±6.28 rad (±360 ) Axis 1 2.01 rad/s (115 /s) Axis 2 1.83 rad/s (105 /s) Max. speed Axis 3 1.97 rad/s (113 /s) Axis 4 2.44 rad/s (140 /s) Axis 5 2.32 rad/s (133 /s) Axis 6 3.49 rad/s (200 /s) Max. pay load Allowable static load torque Wrist Forearm *1 Axis 4 Axis 5 Axis 6 210 kg 45 kg at maximum 1,337 N m 1,337 N m 720 N m Allowable moment of inertia *2 Axis 4 141.1 kg m 2 Axis 5 141.1 kg m 2 Axis 6 79.0 kg m 2 Position repeatability *3 Installation Ambient conditions Dust-proof / Drip-proof performance ±0.15 mm Floor mounting Temperature: 0 to 60 ºC *4 Humidity: 20 to 85%RH (No dew condensation allowed) Vibration to the installation face: Not more than 0.5G (4.9 m/s 2 ) Wrist and upper arm;ip67 / Lower arm and base unit:ip65 Robot mass 1,100 kg 1[rad] = 180/π[ ], 1[N m] = 1/9.8[kgf m] - On controller display, axis 1 to 6 is displayed J1 to J6 for each. - The specification and externals described in this specification might change without a previous notice for the improvement. *1: This value changes by placement and load conditions of a wrist. *2: The Allowable moment of inertia of a wrist changes with load conditions of a wrist. *3: This value conforms to "JIS B 8432". *4: Permitted height is not higher than 1,000m above sea level. If used in higher place, permitted temperature is affected by height.
3. Robot dimensions and working envelope Page-3
Page-4 4. Detail of tool mounting plate For the end effecter fixing bolts, use the mounting P.C.D. shown in the following figures. Besides the mounting P.C.D., different P.C.D. (option) is available. For details, contact our service division. CAUTION Be sure to screw the M12 tool fixing bolts in the wrist not deeper than the screw depth in the mounting face. Screwing the bolts deeper than the screw depth may damage the wrist.
5. Details of upper part of forearm Page-5
Page-6 6. Installation procedure The installation location and the installation procedure of the robot are critical factors to maintain robot functions. The ambient conditions of installation location not only have influence on the life of mechanical sections of the robot, but also get involved in safety issues. Consequently, strictly observe the environmental conditions shown below. Furthermore, utmost care should be exerted for the installation procedure and the foundation for the robot in order to maintain the robot performance. Strictly observe the installation procedure for the robot provided below. Installation To install the robot, give it first priority to thoroughly consider safety of workers and take safety measures. The following describes precautions for this purpose. Safety measures against entry in the robot operating area While the robot is in operation, workers are in danger of coming in contact with the robot. To avoid that, install a Guard fence so as to keep the worker away from the robot. Not doing so will cause the workers or other persons to accidentally enter the operating area, WARNING thus resulting in accidents. Installation location and ambient conditions Conditions (temperature, humidity, height and vibration) are written in 2. Basic Specifications. Further ambient conditions listed below must be observed. (1) Location with the drainage structure so that swivel base is not flooded, when the liquid such as water or cutting fluid is splashed on the robot body (2) Location with no flammable or corrosive fluid or gas. (3) Type D grounding (the grounding resistance is 100Ω or less) is necessary. Installation procedure While robot moves, large reaction force is applied to the swiveling base from all directions. Consequently, the robot should be installed in such a manner that the foundation endures reaction force caused by accelerating or decelerating the speed to lock the robot, not to mention that it endures static loads. Repair uneven spots, cracks, and others on the floor, and then install the robot by following to the table below. If thickness of floor concrete is less than needed level, an independent foundation should be constructed. Inspect the foundation prior to the robot installation, and then construct the foundation, if necessary. Robot Model Thickness of floor concrete Installation parts *1 Tightening torque Allowable repeated tensile *2 SRA210D-01 Not less than 160 mm 8 bolts of M20 (JIS: Strength class 12.9) not less than 65mm 8 plain washers of not less than 4.5 mm in thickness and HRC35 in hardness 560 ± 30 N m Approximately 28,000 N *1 : Installation parts are not accessory of robot. *2 : This tensile is per installation bolt when robot is installed with all bolts written in table above.
Page-7 Installation space To install the robot, lock the swiveling base of the robot. WARNING WARNING The mechanical stopper end is located in a position exceeding the specified working envelope (software limit) of axis 1 by 3. To install the safety fence, with consideration given to the wrist configuration and the shape of end effecter. On axes 1, 2 and 3, the robot working envelope can be regulated for safety (optional function). Since optional parts should be installed to enable this function, do not independently move the standard parts (e.g. mechanical stopper).
Page-8 Accuracy of installation surface When installing robot, strictly observe precautions listed below to cause no deformation in the swivel base. (1) Make the deviation from the flatness of the 4 plates on the robot installation surface fall within 1.0 mm. (2) Make the deviation in height between the 4 places of each base plate installation surface and the robot installation surface fall in the range of 1.0 mm (±0.5 mm). (3) If the two precautions above cannot be observed, use jack bolts to bring the four places into even contact with the installation surface. Maximum robot generative force Robot model Max. vertical generative force F V Max. horizontal generative force F H Max. vertical generative moment M V Max. horizontal generative moment M H SRA210D-01 52,800 N 40,500 N 113,200 N m 98,300 N m
Page-9 7. Allowable wrist load CAUTION Load fixed on the tip of wrist is regulated by allowable payload mass, allowable static load torque, and allowable moment of inertia. Strictly keep the wrist load within each allowable value. If wrist load exceeds the allowable value, this robot is out of guarantee. Refer to the table of 2. Basic specifications and following figures for the detail of each specification. Torque map C.O.G. of wrist load should exist inside the range shown below.
Page-10 Wrist load conditions Static load torque and moment of inertia of wrist load should exist inside the range shown below. IMPORTANT If the real inertia is over the limit, maximum speed will be restrained by software to protect he robot. Axis 4,5 Axis 6
Page-11 How to find the inertia moment of each axis The following section shows general methods of calculating the inertia moment around each axis. l Z l z Z l X l x x z X l y y m (X m, Y m, Z m ) Y l Y X: Axis 5 rotation in the basic wrist configuration Y: Axis 6 and axis 4 rotation in the basic wrist configuration Z: Axis at right angles to the X and Y axes in the basic wrist configuration x: Axis parallel to the X axis in the load gravity center y: Axis parallel to the Y axis in the load gravity center z: Axis parallel to the Z axis in the load gravity center I x : Inertia moment around the X axis passing through the load gravity center I y : Inertia moment around the Y axis passing through the load gravity center I z : Inertia moment around the Z axis passing through the load gravity center m: Load mass (X m, Y m, Z m ): Gravity center coordinates of load 1. Inertia moment around axis 6 The inertia moment of around axis 6 is found by the expression shown below. J6 Y 2 m 2 m I = I = m ( X + Z ) + I y 2. Inertia moment around axis 4 and axis 5 The inertia moment around axis 4 and axis 5 varies with axis 6 configuration. Consequently, in order to simplify the calculation, take a maximum value around the X and Z axes in above figure, as the inertia moment. I = max ( I, I ) J 4J5 X Z QI X 2 2 = m ( Ym + Zm ) + I x QIZ 2 2 = m ( X m + Ym ) + Iz
Page-12 Allowable forearm load Use the robot under condition that COG of the ancillary equipment on the forearm falls in the range shown below.
Page-13 8. Option specifications : Possible to correspond/-: Impossible to correspond No. Item Specifications Parts No. 1 Installation parts *1 2 Axis 1 adjustable stopper *1 3 Axis 2 adjustable stopper *1 4 Axis 3 adjustable stopper *1 Robot model SRA210D-01 Pins set (Installation pins & polyethylene plug) OP-F1-025 Installation bolts & washers OP-F1-035 Restriction of axis 1 operation edge (±2.61 rad to ±0.0, every 0.17 rad) Restriction of axis 2 operation edge (-0.26 and -0.52 rad from the operation edge) Restriction of axis 3 operation edge (-0.52 rad,-0.79 rad,-1.05 rad,-1.31 rad,-1.57 rad from the J3 axis upper side motion end) OP-S5-024 OP-A5-030 OP-A6-028 5 Transfer jig Fork bracket OP-S2-039 6 Zeroing pin & block *1 OP-T2-083 7 Encoder connector Protector For axis 3 OP-P6-009 8 Arm fixing jig Axis 2 KP-ZD-005 Axis 3 KP-ZJ-011 9 Scale seal For wrist three axes OP-N2-20 10 Gas balancer unit Analog pressure gauge KP-ZJ-013 Pressure gauge *1 Digital pressure gauge KP-ZJ-014 Charging unit (W22,picth14,Female) KP-ZJ-015 11 Gas balancer unit Charging equipment. *1,*2 Charging unit (W23,picth14,Male) KP-ZJ-016 Joint of Female->Male (W22) KP-ZJ-019 *1 : These parts are packed separately from the robot. (Not attached on the robot) *2 : If diameter of charging equipment is W22, pitch14, Female, Right screw, Metal contacts, please prepare the charging equipment KP-ZJ-015 and the joint KP-ZJ-019.
Page-14 9. Application wiring and piping diagram Standard specification
Page-15 10. Transport procedure WARNING WARNING WARNING CAUTION The robot must be transported by personnel who have licenses required for slinging work, crane operation, forklift truck operation, and others. The weight of the robot and controller is listed in the Operating Manual and the Maintenance Manual. Check for the weight, and then handle them according to procedures suitable for the weight. To lift the robot or the controller, follow the procedures specified in the Maintenance Manual. Following any procedures other than those specified will cause the robot to topple over or drop during transport, thus resulting in accidents. During transport or installation work of the robot, pay utmost care not to cause damage to wirings. Furthermore, after installing the robot, take protective measures such as using protective guards so that the wirings will not be damaged by workers or other persons, or forklift trucks or else. Gas in balancer must be released when robot is transported by air. Gas in balancer must be charged before using robot, so customer needs to prepare the nitrogen gas and charging unit. Please contact to NACHI-FUJIKOSHI office to order the charging unit. Charging procedure is written in manipulator maintenance manual. To transport the robot, make it a rule to use a crane. At first, move the robot to the configuration shown in figure and mount four M20 hanger bolts to the robot frame. Then, be sure to lift the robot using four hanging wires (recommended length is 3.5m). Protect areas that contact the robot by rubber hoses to cover the wire ropes. For the areas to be covered, please refer to figure.
Page-16 Never use taps marked to hang the robot. (4-M20) Eyebolt installation holes (4-M20) CAUTION If hanging wires push the encoder connectors or wiring/piping, they may be broken when hanging the robot. When hanging the robot, please pay attention not to make the wires touch the encoder connectors and wiring/piping by referring to the following picture.
Page-17 11. Delivery style (specification which contains a robot) 1. There are three styles as shown below. Style 1 Delivery on the truck 2 3 Delivery after installation and test-run Delivery after installation and teaching with work piece Details Robot is delivered on the truck near the entrance of customer s plant. (Installation and test-run is not included) Robot is installed and test-run is done. (Teaching with work piece is not included.) After style 2, teaching with work piece is done. Because the expense is different, which form to choose be sufficiently examined. Gas in balancer is not filled when robot is transported by air. Gas in balancer must be charged before using robot, so customer needs to prepare the nitrogen gas and charging unit. Please contact to NACHI-FUJIKOSHI office to order the charging unit. Charging procedure is written in manipulator maintenance manual. 2. Operation and maintenance education The special spot operation guide and the special spot preservation guide are the outside of the estimation. Consult with each NACHI-FUJIKOSHI office for the details as for the schooling system. 12. Consuming power (Robot + Controller) 7.0 kva at maximum (may vary according to the application and motion pattern.) 13. Paint color Standard color 14. Warranty Controller cabinet Munsell 10GY9/1 Robot body Munsell 10GY9/1 Elapse of 1 year after delivery. (8 hours/day running) The specification and externals described in this document might change without a previous notice for the improvement.
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